#include "zf_common_headfile.h"
#include <math.h>
#include "shared_quant.h"


void PID_Init(PID_Controller* pid, float Kp,float Kpp, float Ki, float Kd,float Kdd, float max_out, float min_out, float max_i);

float PID_Calculate(PID_Controller* pid, float target, float feedback);